function matchclouds(a,b)

a = a{1};
b = b{1};

a = h3d_scan_convert_points(a);
b = h3d_scan_convert_points(b);

R1 = rot_z(a.true_pose{1}{2});
R2 = rot_z(b.true_pose{1}{2});

T1 = a.true_pose{2};
T2 = b.true_pose{2};

h3d_display_clouds(a.points,R1,T1,b.points,R2,T2);